Chatter suppression at end of a manipulator for grinding wind turbine blade based on incremental coupling predictive control

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Journal of Vibration and Shock ›› 2020, Vol. 39 ›› Issue (5) : 235-243.

DAI Shijie1,2, CHENG Jun1,2, ZHANG Huibo1,2, WANG Xiaojun1,2

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Abstract

Aiming at the problem of end-actuator tangential chatter caused by rigid contact between end-actuator and blade surface in process of grinding wind turbine blade, an incremental coupling predictive control method for the end-actuator based on the composite structure of force feedback and acceleration feedforward was proposed.On the basis of mathematical modeling for flexible driving unit of the end-effector, the composite PID control strategy was improved based on incremental coupling dynamic matrix predictive control algorithm.The uncontrollable but predictable input acceleration was taken as a part of prediction sequence of grinding axial force.Meanwhile, the control target was optimized by rolling in finite time domain with minimizing quadratic performance index to ensure flexible contact between end-actuator and wind turbine blade.Simulation and test results showed that the proposed method can quickly realize the end-effector’s tangential chatter suppression, and minimize errors brought by control time delay, environmental time-varying and model mismatch, etc.

Key words

chatter suppression / incremental coupling / dynamic matrix / predictive control / composite PID control

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DAI Shijie1,2, CHENG Jun1,2, ZHANG Huibo1,2, WANG Xiaojun1,2 . Chatter suppression at end of a manipulator for grinding wind turbine blade based on incremental coupling predictive control[J]. Journal of Vibration and Shock, 2020, 39(5): 235-243

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